Szukana fraza: [Abstract = "This paper uses linear matrix inequality \(LMI\) techniques to design an iterative learning control \(ILC\) law or a class of batch processes with state delays. The design procedure uses the stability theory for repetitive processes, where the design problem is first converted into one for a parallel interconnection of repetitive processes with delays. This setting allows the computation of the PD\-type control law gain matrices, and the Kalman\-Yakubovich\-Popov \(KYP\) lemma ensures batch\-to\-batch error convergence over the complete frequency domain. A numerical example illustrates the paper developments and proves that the design is effective and brings some advantages when compared to the existing alternatives."]

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